/*==============================================================================
 *
 * Chris Rigg and Sam Strom
 *
 * ECEN 5033
 *
 * Spring 2008
 *
 * Much of the code in robot_comm_interface.[ch] was adapted from original 
 * code provided by the following source:
 *
 * - http://www.captain.at/howto-simple-serial-port-test-example.php
 *
 */
#ifndef _ROBOT_COMM_INTERFACE_H
#define _ROBOT_COMM_INTERFACE_H

typedef enum {
  RCI_BASE = 0,
  RCI_SHOULDER,
  RCI_ELBOW,
  RCI_WRIST,
  RCI_HAND,
  RCI_GRIPPER,
  RCI_MAX
} RCI_Joint_Specifier;

void rci_init (void);
void rci_uninit (void);
void rci_move (RCI_Joint_Specifier joint, unsigned char pos);
void rci_start_search_mode (void);
void rci_stop_search_mode (void);
int rci_in_search_mode (void);
void rci_grab (void);
void rci_dunk (void);

#endif // _ROBOT_COMM_INTERFACE_H
